62
6250 Servo Controller User Guide
☞
You can change the
input debounce time
with the
INDEB
command.
Each position latch input has a 25-ms debounce time. Therefore, the maximum rate that the
input can capture positions is 40 times per second. However, if your application requires a
shorter debounce time, you can change it with the
INDEB
command (refer to the Input
Debounce Time section provided earlier in this chapter).
TRG-A
and
TRG-B
must transition
from high (+5V) to low to capture a position; the active level of the trigger inputs is not
programmable with the
INLVL
command. After the high-to-low transition, position latch
inputs must remain low for at least 100
µ
s. It is the falling edge that latches data in hardware.
System status bits #25 and #26, reported with the
TSS
and
[
SS
]
commands, are set to
1
when the position has been captured on the respective trigger input (
TRG-A
and
TRG-B
,
respectively). As soon as the captured position is transferred (
TPCE
) or assigned/compared (
[
PCE
]
), the respective system status bit is cleared, but the position information is still
available from the register until it is overwritten by a new position latch from the trigger
input.
Jogging the
Motor
(
INFNCi-aJ
)
(
INFNCi-aK
)
(
INFNCi-aL
)
In some applications, you may want to move the motor manually. You can configure the
6250 to allow you to move the motor manually with the
INFNC
command.
You must define the jogging velocity with the Jog Velocity High (
JOGVH
) and Jog Velocity
Low (
JOGVL
) commands. The acceleration and deceleration of the
JOG
move can be
configured using
JOGA
, and
JOGAD
respectively. (If you are using S-curve profiles, you
must also specify
JOGAA
and
JOGADA
.)
You can define three different inputs for jogging: CW Jog input (
INFNCi-aJ
), CCW Jog
Input (
INFNCi-aK
), and Jog Speed Select High/Low (
INFNCi-aL
). You must also enable
the jogging feature with the
JOG
command.
Once you set up these parameters, you can attach a switch to the jog inputs that you defined and
perform jogging. The following example shows how you can define a program to set up
jogging.
Step
➀
Command
Description
>
DEF prog1
Begin definition of program prog1
-
LHØ
Disables the limits (
not needed if you have limit switches
installed)
-
SCALEØ
Disable scaling
-
JOGA25
Set jog acceleration to 25 rps
2
-
JOGAD25
Set jog deceleration to 25 rps
2
-
JOGVL.5
Sets low-speed jog velocity to 0.5 rps
-
JOGVH5
Sets high-speed jog velocity to 5 rps
-
INFEN1
Enable input functions
-
INFNC1-1J
Sets input 1 as a CW jog input
-
INFNC2-1K
Sets input 2 as a CCW jog input
-
INFNC3-1L
Sets input 3 as a speed-select input
-
JOG1
Enables Jog function for axis 1
-
END
End program definition
Step
➁
Activate input 1 to move the motor in the CW direction at 0.5 rps (until input 1 is released).
Step
➂
Activate input 2 to move the motor in the CCW direction at 0.5 rps (until input 2 is released).
Step
➃
Activate input 3 to switch to high-speed jogging.
Step
➄
Repeat steps 2 and 3 to perform high-speed jogging.
